Mitsubishi Electric R16MTCPU - Page 216

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4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
• The following operations by the servo instruction at CHGP instruction execution are shown below.
• Operation after execution of CHGP instruction are as follows.
• After execution of CHGP instruction, the vector speed does not change, but each axis speed changes according to new
target position. Therefore, each axis speed may change rapidly depending on new target position.
• When the reference axis speed designation or longest axis reference designation is set in the linear interpolation control, an
operation is as follows.
Control mode Servo instruction Operation
Linear control The positioning is executed from current feed value during execution to new target
position with linear interpolation control.
Fixed-pitch feed
Circular interpolation
control
The target position change is ignored, and a warning (error code: 099BH ) will occur.
Helical interpolation
control
Continuous trajectory
control
The positioning is executed from current feed value during execution to new target
position with linear interpolation control. The positioning to a remaining point is not
executed.
Speed control () The target position change is ignored, and a warning (error code: 099BH) will occur.
Speed control ()
Speed/position switching
control
Position follow-up control
Speed control with fixed
position stop
JOG operation
Speed-torque control
Pressure control
High-speed oscillation
Home position return
Machine control The target position change is ignored.
• "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" turns ON with automatic deceleration processing to new target position.
• "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" turns ON when the absolute value of difference between new target position and current
feed value becomes "command in-position range" or less.
• "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON with command output completion to new target position.
• The longest axis is not selected again at target position change. The longest axis before change is used continuously.
• The positioning speed is calculated depending on the movement amount for each axis new target position.
• When the movement amount of reference axis or longest axis depending on the target position change becomes 0, a minor error (error code: 1A5FH) will
occur and deceleration stop is executed.
ABS-1
ABS-2 ABS-3
ABS-4
INC-4
INC-3INC-2
INC-1
FEED-1 FEED-2 FEED-3
ABS circular INC circular
ABS helical INC helical
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
VVF VVR
VPF VPR VPSTART
PFSTART
PVF PVR
OSC
ZERO